2023 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第9页

Simplified Motor Primitives for Gait Symmetrization: Pilot Study with an Active Hip Orthosis 步态对称的简化运动原语:主动髋关节矫形器的初步研究

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160837

Henri Laloyaux, Chiara Livolsi, Andrea Pergolini, S. Crea, N. Vitiello, R. Ronsse

引用次数: 0

Identifying Contact Distance Uncertainty in Whisker Sensing with Tapered, Flexible Whiskers 用锥形柔性须识别触须传感中接触距离的不确定性

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160408

T. A. Kent, Hannah M. Emnett, M. Babaei, M. Hartmann, S. Bergbreiter

引用次数: 0

Safe and Distributed Multi-Agent Motion Planning under Minimum Speed Constraints 最小速度约束下的安全分布式多智能体运动规划

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160280

Inkyu Jang, Jungwon Park, H. J. Kim

{"title":"Safe and Distributed Multi-Agent Motion Planning under Minimum Speed Constraints","authors":"Inkyu Jang, Jungwon Park, H. J. Kim","doi":"10.1109/ICRA48891.2023.10160280","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160280","url":null,"abstract":"The motion planning problem for multiple unstop-pable agents is of interest in many robotics applications, for example, autonomous traffic management for multiple fixed-wing aircraft. Unfortunately, many of the existing algorithms cannot provide safety for such agents, because they require the agents to be able to brake to a complete stop for safety and feasibility insurance. In this paper, we present a distributed multi-agent motion planner that guarantees collision avoidance and persistent feasibility, which can be applied to a team of homogeneous mobile vehicles that cannot stop. The planner is built on top of the idea that a collision-free trajectory in form of a loop can safely accommodate multiple unstoppable agents, while avoiding collisions among them and static obstacles. At every time step, in a distributed manner, the agents generate trajectory-manipulating actions that preserve the loop structure. Then, a deconfliction process selects a conflict-free subset of the generated actions, which are applied at the next time step. Through simulation using an unstoppable Dubins car model, we show that the proposed motion planner is able to provide persistent safety guarantees for such agents in obstacle-cluttered space in real-time.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129571375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Tentacle-Based Shape Shifting of Metamorphic Robots Using Fast Inverse Kinematics 基于快速逆运动学的触手变形机器人

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160352

J. Mrázek, Patrick Ondika, I. Cerná, J. Barnat

引用次数: 0

A Kinematically Redundant (6+1)-dof Hybrid Parallel Robot for Delicate Physical Environment and Robot Interaction (pERI) 基于精细物理环境与机器人交互的6+1自由度并联机器人

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160676

Jehyeok Kim, C. Gosselin

引用次数: 0

A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization 基于视觉惯性定位的四旋翼机运动目标跟踪系统

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161323

Ziyue Lin, Wenbo Xu, Wei Wang

{"title":"A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization","authors":"Ziyue Lin, Wenbo Xu, Wei Wang","doi":"10.1109/ICRA48891.2023.10161323","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161323","url":null,"abstract":"This paper implements a vision-based moving target tracking system of quadrotors with visual-inertial localization in GNSS-denied indoor environments. We use the visual-inertial odometry to estimate the states of the UAV by minimizing visual and inertial residuals, and estimate the states of the target with extended Kalman Filter from visual detection. This research formulates the target tracking problem as optimization-based trajectory generation where a weighted sum cost function jointly penalizes the tracking error, the control cost of the trajectory and the trajectory length, while enforcing the safety and feasibility constraints. We present a strategy that represents the trajectory as piecewise Bézier curves using Bernstein polynomial basis. Due to the special properties of Bézier curves, the position of the entire trajectory and its derivatives can be directly bounded within the safe spaces, thus this facilitating the dynamics of the quadrotor. The proposed strategy can generate smooth and collision-free tracking trajectories and is time and space efficient. We conduct simulations and real-world experiments to validate the effectiveness of our system.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132887039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

The Reflectance Field Map: Mapping Glass and Specular Surfaces in Dynamic Environments 反射率场地图:映射玻璃和镜面在动态环境

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161520

P. Foster, Collin Johnson, B. Kuipers

{"title":"The Reflectance Field Map: Mapping Glass and Specular Surfaces in Dynamic Environments","authors":"P. Foster, Collin Johnson, B. Kuipers","doi":"10.1109/ICRA48891.2023.10161520","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161520","url":null,"abstract":"We present the Reflectance Field Map, a reliable real-time method for detecting shiny surfaces, like glass, metal, and mirrors, with lidar. The Reflectance Field Map combines the theory developed for Light Field Mapping, common in computer graphics, with occupancy grid mapping. Like early methods for sonar-based robot mapping, we show how the addition of angular viewpoint information to a standard 2D grid map enables robust mapping in the presence of specular reflections. However unlike previous approaches, our method works in dynamic environments. Additionally, unlike recent approaches for lidar-based mapping of specular surfaces, our approach is sensor-agnostic and has no reliance on either intensity or multi-return measurements. We demonstrate the ability of the Reflectance Field Map to accurately map a campus environment containing numerous pedestrians and significant plate glass, both straight and curved. The algorithm runs in real-time (75+Hz) on a single core of a standard desktop processor. An open source implementation of the algorithm is available at https://github.com/collinej/reflectance_field_map.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133010677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sim-to-Real Policy and Reward Transfer with Adaptive Forward Dynamics Model 基于自适应前向动力学模型的模拟-真实策略与奖励转移

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10161298

Rongshun Juan, Hao Ju, Jie Huang, R. Gomez, Keisuke Nakamura, Guangliang Li

{"title":"Sim-to-Real Policy and Reward Transfer with Adaptive Forward Dynamics Model","authors":"Rongshun Juan, Hao Ju, Jie Huang, R. Gomez, Keisuke Nakamura, Guangliang Li","doi":"10.1109/ICRA48891.2023.10161298","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10161298","url":null,"abstract":"Deep reinforcement learning has shown promise in learning robust skills for robot control, but typically requires a large amount of samples to achieve good performance. Sim-to-real transfer learning has been developed to solve this problem, but the policy trained in simulation usually has unsatisfactory performance in the real world because simulators inevitably model the dynamics of reality imperfectly. To enable sample-efficient learning in the real world, we proposed progressive policy transfer with adaptive dynamics model (PPTADM). PPTADM assumes the dynamics of simulation and real world do not match but the state space is the same, transfers policy from simulation via progressive neural network (PNN) and further improves the policy with a learned forward dynamics model in reality. In addition, for real-world tasks in which reward functions are difficult or even impossible to define and verify the effectiveness, PPTADM can learn in real world solely from a transferred reward function that is estimated from simulation even though their dynamics do not match. Our results in five simulated tasks and on a real robot arm show that with PPTADM, the robot's learning efficiency and performance in the real world can be significantly improved.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"275 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132165280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Ethical Assessment of a Hospital Disinfection Robot 医院消毒机器人的伦理评价

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160903

C. McGinn, R. Scott, Niamh Donnelly, M. Cullinan, A. Winfield, P. Treusch

{"title":"Ethical Assessment of a Hospital Disinfection Robot","authors":"C. McGinn, R. Scott, Niamh Donnelly, M. Cullinan, A. Winfield, P. Treusch","doi":"10.1109/ICRA48891.2023.10160903","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160903","url":null,"abstract":"Robots have the potential to deliver very positive impacts for society, however, it's critical that in preparing for real-world deployments, we recognize and take steps to mitigate against the potential harms, both direct and indirect, that they may cause. In this paper, we explore how the ethics canvas (EC) and the ethical risk assessment (ERA) methodology defined in British Standard 8611 can be combined to better align robot technologies with ethics and their socio-cultural context of operation. We illustrate this through a practical case-study involving the real-world introduction of a disinfection robot to a radiology department in a European hospital. Using the EC, we identified 49 distinct ways that the technology was likely to impact key stakeholders and 11 ways that failure or misuse of the technology was likely to impact service provision. From this data, 8 mitigating measures were identified. Then, using the ERA tool, 9 risks were identified that were considered to represent a high likelihood of occurrence. From these insights, a further 8 mitigation measures were proposed. The combined use of both tools was found to be complementary, since the EC fostered a bottom-up, subjective critical thinking process whereas the ERA provided a broader, more top-down objective view. This example provides a practical template for robotics practitioners to better understand and manage the ethical and socio-cultural dimensions of their work, and contributes towards the standardization of ethical assessments in robotics with an emphasis on the move from principles to practice.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129202856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive and Explainable Deployment of Navigation Skills via Hierarchical Deep Reinforcement Learning 通过层次深度强化学习的自适应和可解释的导航技能部署

2023 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2023-05-29 DOI: 10.1109/ICRA48891.2023.10160371

Kyowoon Lee, Seongun Kim, Jaesik Choi

{"title":"Adaptive and Explainable Deployment of Navigation Skills via Hierarchical Deep Reinforcement Learning","authors":"Kyowoon Lee, Seongun Kim, Jaesik Choi","doi":"10.1109/ICRA48891.2023.10160371","DOIUrl":"https://doi.org/10.1109/ICRA48891.2023.10160371","url":null,"abstract":"For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a hand-engineered curriculum and reward function which are difficult to be deployed in a wide range of real-world scenarios. In this paper, we propose a framework to learn a family of low-level navigation policies and a high-level policy for deploying them. The main idea is that, instead of learning a single navigation policy with a fixed reward function, we simultaneously learn a family of policies that exhibit different behaviors with a wide range of reward functions. We then train the high-level policy which adaptively deploys the most suitable navigation skill. We evaluate our approach in simulation and the real world and demonstrate that our method can learn diverse navigation skills and adaptively deploy them. We also illustrate that our proposed hierarchical learning framework presents explainability by providing semantics for the behavior of an autonomous agent.","PeriodicalId":360533,"journal":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129247458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1